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added explicit function to refresh task handle

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This commit is contained in:
Robin Müller 2020-09-25 18:40:04 +02:00
parent 5ca1c7bca2
commit a65745d037
2 changed files with 27 additions and 9 deletions
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8
osal/FreeRTOS/BinSemaphUsingTask.cpp
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@ -1,5 +1,5 @@
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h" #include "BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h" #include "TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() { BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
@ -16,6 +16,10 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr); xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
} }
void BinarySemaphoreUsingTask::refreshTaskHandle() {
handle = TaskManagement::getCurrentTaskHandle();
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType, ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) { uint32_t timeoutMs) {
TickType_t timeout = 0; TickType_t timeout = 0;

28
osal/FreeRTOS/BinSemaphUsingTask.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ #ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ #define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h" #include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h" #include "../../tasks/SemaphoreIF.h"
@ -7,16 +7,20 @@
#include <freertos/FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include <freertos/task.h> #include <freertos/task.h>
// todo: does not work for older FreeRTOS version, so we should
// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
/** /**
* @brief Binary Semaphore implementation using the task notification value. * @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used * The notification value should therefore not be used
* for other purposes. * for other purposes!
* @details * @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html * Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation. * and general semaphore documentation.
* This semaphore is bound to the task it is created in! * This semaphore is bound to the task it is created in!
* Take care of calling this function with the correct executing task, * Take care of building this class with the correct executing task,
* (for example in the initializeAfterTaskCreation() function). * (for example in the initializeAfterTaskCreation() function) or
* by calling refreshTaskHandle() with the correct executing task.
*/ */
class BinarySemaphoreUsingTask: public SemaphoreIF, class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF { public HasReturnvaluesIF {
@ -28,6 +32,16 @@ public:
//! @brief Default dtor //! @brief Default dtor
virtual~ BinarySemaphoreUsingTask(); virtual~ BinarySemaphoreUsingTask();
/**
* This function can be used to get the correct task handle from the
* currently executing task.
*
* This is required because the task notification value will be used
* as a binary semaphore, and the semaphore might be created by another
* task.
*/
void refreshTaskHandle();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING, ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override; uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override; ReturnValue_t release() override;
@ -70,10 +84,10 @@ public:
* - @c RETURN_FAILED on failure * - @c RETURN_FAILED on failure
*/ */
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify, static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken); BaseType_t* higherPriorityTaskWoken);
protected: protected:
TaskHandle_t handle; TaskHandle_t handle;
}; };
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */ #endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */